--- /dev/null
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <afb/afb-binding.h>
+
+void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_frame>& canfd_frame_queue)
+{
+ ssize_t nbytes;
+ int maxdlen;
+
+ /* Test that socket is really opened */
+ if ( socket < 0)
+ {
+ ERROR(interface, "read_can: Socket unavailable");
+ return -1;
+ }
+
+ while(true)
+ {
+ nbytes = read(socket, &canfd_frame, CANFD_MTU);
+
+ switch(nbytes)
+ {
+ case CANFD_MTU:s
+ DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+ maxdlen = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+ maxdlen = CAN_MAX_DLEN;
+ break;
+ default:
+ if (errno == ENETDOWN)
+ ERROR(interface, "read_can: %s interface down", device);
+
+ ERROR(interface, "read_can: Error reading CAN bus");
+ return -2;
+ }
+
+ /*
+ * TODO: thread handle
+ if (parse_can_frame(can_message, &canfd_frame, maxdlen))
+ {
+ ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s",
+ canfd_frame.can_id, canfd_frame.len, canfd_frame.data);
+ return -4;
+ }
+ */
+ canfd_frame_queue.push(canfd_frame);
+ }
+}
--- /dev/null
+ */
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <fcntl.h>
+#include <systemd/sd-event.h>
+#include <errno.h>
+#include <vector>
+#include <map>
+#include <queue>
+#include <string>
+#include <functional>
+#include <memory>
+#include <thread>
+
+#include <json-c/json.h>
+#include <openxc.pb.h>
+
+#include <afb/afb-binding.h>
+#include <afb/afb-service-itf.h>
+
+#include "ll-can-binding.h"
+#include "obd2.h"
+
+/*
+ * Interface between the daemon and the binding
+ */
+static const struct afb_binding_interface *interface;
+
+/********************************************************************************
+*
+* CanBus method implementation
+*
+*********************************************************************************/
+
+int CanBus::open()
+{
+ const int canfd_on = 1;
+ struct ifreq ifr;
+ struct timeval timeout = {1, 0};
+
+ DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
+ if (socket >= 0)
+ close(socket);
+
+ socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (socket < 0)
+ {
+ ERROR(interface, "open_can_dev: socket could not be created");
+ }
+ else
+ {
+ /* Set timeout for read */
+ setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ /* try to switch the socket into CAN_FD mode */
+ if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+ {
+ NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
+ is_fdmode_on = false;
+ } else {
+ is_fdmode_on = true;
+ }
+
+ /* Attempts to open a socket to CAN bus */
+ strcpy(ifr.ifr_name, device);
+ if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
+ ERROR(interface, "open_can_dev: ioctl failed");
+ else
+ {
+ txAddress.can_family = AF_CAN;
+ txAddress.can_ifindex = ifr.ifr_ifindex;
+
+ /* And bind it to txAddress */
+ if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
+ {
+ ERROR(interface, "open_can_dev: bind failed");
+ }
+ else
+ {
+ fcntl(socket, F_SETFL, O_NONBLOCK);
+ return 0;
+ }
+ }
+ close(socket);
+ socket = -1;
+ }
+ return -1;
+}
+
+int CanBus::close()
+{
+ close(socket);
+ socket = -1;
+}
+
+void CanBus::start_threads()
+{
+ std::queue <canfd_frame> canfd_frame_queue;
+ std::queue <openxc_can_message_type> can_message_queue;
+
+ th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue);
+ th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue);
+ th_pushing = std::thread(can_event_push, interface, can_message_queue);
+}
+
+/********************************************************************************
+*
+* Event management
+*
+*********************************************************************************/
+
+/*
+ * TBF TBF TBF
+ * called on an event on the CAN bus
+ */
+static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+ openxc_CanMessage can_message;
+
+ can_message = openxc_CanMessage_init_default;
+
+ /* read available data */
+ if ((revents & EPOLLIN) != 0)
+ {
+ read_can(&can_message);
+ send_event();
+ }
+
+ /* check if error or hangup */
+ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ {
+ sd_event_source_unref(s);
+ close(fd);
+ connect_to_event_loop();
+ }
+
+ return 0;
+}
+
+/*
+ * Get the event loop running.
+ * Will trigger on_event function on EPOLLIN event on socket
+ *
+ * Return 0 or positive value on success. Else negative value for failure.
+ */
+static int connect_to_event_loop(CanBus &CanBus_handler)
+{
+ sd_event *event_loop;
+ sd_event_source *source;
+ int rc;
+
+ if (CanBus_handler.socket < 0)
+ {
+ return CanBus_handler.socket;
+ }
+
+ event_loop = afb_daemon_get_event_loop(interface->daemon);
+ rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL);
+ if (rc < 0)
+ {
+ CanBus_handler.close();
+ ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device);
+ } else
+ {
+ NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device);
+ }
+
+ return rc;
+}
+
+/********************************************************************************
+*
+* Subscription and unsubscription
+*
+*********************************************************************************/
+
+static int subscribe_unsubscribe_sig(struct afb_req request, int subscribe, struct signal *sig)
+{
+ if (!afb_event_is_valid(sig->event)) {
+ if (!subscribe)
+ return 1;
+ sig->event = afb_daemon_make_event(afbitf->daemon, sig->name);
+ if (!afb_event_is_valid(sig->event)) {
+ return 0;
+ }
+ }
+
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, sig->event)) < 0) {
+ return 0;
+ }
+
+ return 1;
+}
+
+static int subscribe_unsubscribe_all(struct afb_req request, int subscribe)
+{
+ int i, n, e;
+
+ n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS;
+ e = 0;
+ for (i = 0 ; i < n ; i++)
+ e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]);
+ return e == 0;
+}
+
+static int subscribe_unsubscribe_name(struct afb_req request, int subscribe, const char *name)
+{
+ struct signal *sig;
+
+ if (0 == strcmp(name, "*"))
+ return subscribe_unsubscribe_all(request, subscribe);
+
+ sig = getsig(name);
+ if (sig == NULL) {
+ return 0;
+ }
+
+ return subscribe_unsubscribe_sig(request, subscribe, sig);
+}
+
+static void subscribe_unsubscribe(struct afb_req request, int subscribe)
+{
+ int ok, i, n;
+ struct json_object *args, *a, *x;
+
+ /* makes the subscription/unsubscription */
+ args = afb_req_json(request);
+ if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
+ ok = subscribe_unsubscribe_all(request, subscribe);
+ } else if (json_object_get_type(a) != json_type_array) {
+ ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
+ } else {
+ n = json_object_array_length(a);
+ ok = 0;
+ for (i = 0 ; i < n ; i++) {
+ x = json_object_array_get_idx(a, i);
+ if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
+ ok++;
+ }
+ ok = (ok == n);
+ }
+
+ /* send the report */
+ if (ok)
+ afb_req_success(request, NULL, NULL);
+ else
+ afb_req_fail(request, "error", NULL);
+}
+
+static void subscribe(struct afb_req request)
+{
+ subscribe_unsubscribe(request, 1);
+}
+
+static void unsubscribe(struct afb_req request)
+{
+ subscribe_unsubscribe(request, 0);
+}
+static const struct afb_verb_desc_v1 verbs[]=
+{
+ { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of CAN bus messages." },
+ { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription." },
+ {NULL}
+};
+
+static const struct afb_binding binding_desc = {
+ .type = AFB_BINDING_VERSION_1,
+ .v1 = {
+ .info = "CAN bus service",
+ .prefix = "can",
+ .verbs = verbs
+ }
+};
+
+const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
+{
+ interface = itf;
+
+ return &binding_desc;
+}
+
+int afbBindingV1ServiceInit(struct afb_service service)
+{
+ /* Open JSON conf file */
+
+ /* Open CAN socket */
+ CanBus_handler.open();
+ CanBus_handler.start_threads();
+
+ return connect_to_event_loop(CanBus_handler);
+}
Code Review / apps / agl-service-can-low-level.git / commitdiff